CA3100772C - Dispositif robot et methode d'inspection de composantes d'un convoyeur acourroie - Google Patents

Dispositif robot et methode d'inspection de composantes d'un convoyeur acourroie Download PDF

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Publication number
CA3100772C
CA3100772C CA3100772A CA3100772A CA3100772C CA 3100772 C CA3100772 C CA 3100772C CA 3100772 A CA3100772 A CA 3100772A CA 3100772 A CA3100772 A CA 3100772A CA 3100772 C CA3100772 C CA 3100772C
Authority
CA
Canada
Prior art keywords
robotic device
components
belt conveyor
robotic
arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CA3100772A
Other languages
English (en)
Other versions
CA3100772A1 (fr
Inventor
Gustavo Medeiros Freitas
Marcos Paulo TORRE
Gabriel Carvalho Garcia
Filipe Augusto Santos Rocha
Andre Stanzani Franca
Felipe Ribeiro Da Fonseca
Fernando Cesar LIZARRALDE
Ramon Romankevicius Costa
Alex Fernandes Neves
Joao Carlos Espiuca Monteiro
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Universidade Federal do Rio de Janeiro UFRJ
Vale SA
Original Assignee
Universidade Federal do Rio de Janeiro UFRJ
Vale SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universidade Federal do Rio de Janeiro UFRJ, Vale SA filed Critical Universidade Federal do Rio de Janeiro UFRJ
Publication of CA3100772A1 publication Critical patent/CA3100772A1/fr
Application granted granted Critical
Publication of CA3100772C publication Critical patent/CA3100772C/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/026—Acoustical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G39/00—Rollers, e.g. drive rollers, or arrangements thereof incorporated in roller-ways or other types of mechanical conveyors 
    • B65G39/10—Arrangements of rollers

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Multimedia (AREA)
  • Acoustics & Sound (AREA)
  • Manipulator (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
  • Control Of Conveyors (AREA)

Abstract

La présente invention concerne un dispositif robotisé (1) pour l'inspection de composants (8, 9, 10) d'un transporteur à courroie 811), comprenant une plateforme mobile (2) et un bras robotisé (3) présentant une première extrémité (4) accouplée à la plateforme mobile (2) et une seconde extrémité (5), le bras robotisé (3) comportant une structure articulée conçue pour amener la seconde extrémité (5) à entrer en contact avec au moins l'un des composants (8, 9, 10) du transporteur à courroie (11), le dispositif robotisé (1) comprenant en outre un capteur de vibrations (6), une caméra (14), un microphone (15) et un dispositif de balayage à laser (16) accouplés à la seconde extrémité (5) dudit bras (3). La présente invention concerne également un procédé pour l'inspection de composants (8, 9, 10) d'un transporteur à courroie (11) utilisant un dispositif robotisé (1), comprenant l'étape consistant : à obtenir des données de température et/ou de bruit d'au moins l'un des composants (8, 9, 10) du transporteur à courroie (11); et, si les données de température et/ou de bruit d'au moins l'un des composants (8, 9, 10) sortent d'une plage de valeurs prédéterminée, le procédé comprend également les étapes consistant : à amener une seconde extrémité (5) d'un bras robotisé (3) du dispositif robotisé (1) à entrer en contact avec au moins l'un des composants (8, 9, 10) du transporteur à courroie (11), le bras robotisé (3) comportant une structure articulée; et à obtenir des données de vibration dudit au moins composant (8, 9, 10) par l'intermédiaire du capteur de vibrations (6).
CA3100772A 2018-05-18 2019-03-19 Dispositif robot et methode d'inspection de composantes d'un convoyeur acourroie Active CA3100772C (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
BRBR1020180102133 2018-05-18
BR102018010213-3A BR102018010213B1 (pt) 2018-05-18 2018-05-18 Dispositivo robótico e método para inspeção de componentes de um transportador de correia
PCT/BR2019/050090 WO2019218035A1 (fr) 2018-05-18 2019-03-19 Dispositif robotisé et procédé d'inspection de composants d'un transporteur à courroie

Publications (2)

Publication Number Publication Date
CA3100772A1 CA3100772A1 (fr) 2019-03-19
CA3100772C true CA3100772C (fr) 2022-07-19

Family

ID=67251327

Family Applications (1)

Application Number Title Priority Date Filing Date
CA3100772A Active CA3100772C (fr) 2018-05-18 2019-03-19 Dispositif robot et methode d'inspection de composantes d'un convoyeur acourroie

Country Status (7)

Country Link
US (1) US11926481B2 (fr)
CN (1) CN112533845A (fr)
AU (1) AU2019268743B2 (fr)
BR (1) BR102018010213B1 (fr)
CA (1) CA3100772C (fr)
CL (1) CL2020002989A1 (fr)
WO (1) WO2019218035A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115087853A (zh) * 2020-02-03 2022-09-20 日本电气株式会社 振动处理装置、振动处理方法和程序
CN111331611A (zh) * 2020-02-25 2020-06-26 四川省自贡运输机械集团股份有限公司 一种基于连续输送设备的智能检修机器人
KR20210120192A (ko) * 2020-03-26 2021-10-07 현대자동차주식회사 차량의 진동 검사 시스템 및 그 방법
CN114789468A (zh) * 2021-10-28 2022-07-26 广东天凛高新科技有限公司 一种自动故障检测及修复系统、方法、设备及终端
CN115285621B (zh) * 2022-09-28 2023-01-24 常州海图信息科技股份有限公司 基于人工智能的皮带托辊故障监测系统
CN115892923B (zh) * 2023-03-10 2023-06-16 四川东林重工科技股份有限公司 带式输送机智能巡检机器人
CN118125082B (zh) * 2024-05-07 2024-06-28 常州新泽监控设备有限公司 一种矿用高温检测监控系统

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US6484083B1 (en) * 1999-06-07 2002-11-19 Sandia Corporation Tandem robot control system and method for controlling mobile robots in tandem
US6237752B1 (en) * 1999-09-29 2001-05-29 Reliance Electric Technologies, Llc Method and apparatus for detecting a misaligned conveyor
US6678583B2 (en) * 2001-08-06 2004-01-13 Seminet, Inc. Robotic storage buffer system for substrate carrier pods
US7346429B2 (en) * 2003-05-05 2008-03-18 Engineering Services, Inc. Mobile robot hybrid communication link
US7139651B2 (en) * 2004-03-05 2006-11-21 Modular Mining Systems, Inc. Multi-source positioning system for work machines
US7539557B2 (en) * 2005-12-30 2009-05-26 Irobot Corporation Autonomous mobile robot
CN102424257A (zh) * 2011-08-22 2012-04-25 北京纵横兴业科技发展有限公司 使用智能监控系统来监控输煤系统的输煤皮带的方法
US9463574B2 (en) * 2012-03-01 2016-10-11 Irobot Corporation Mobile inspection robot
CA2918466C (fr) 2013-07-15 2023-01-10 Abb Technology Ag Inspection de transporteur avec vehicule sans conducteur portant une structure de capteur
AU2015100473A4 (en) * 2014-08-04 2015-05-14 Ezifix Mining Solutions Pty Ltd Conveyor roller monitoring apparatus
JP6179610B2 (ja) 2015-02-03 2017-08-16 Ｊｆｅスチール株式会社 ベルトコンベア設備点検システム
CN104898671B (zh) * 2015-05-07 2017-11-24 北京工业大学 一种带清障功能的轨道式矿用输送机自动巡检小车
CN206417548U (zh) * 2016-10-19 2017-08-18 宁夏大学 皮带运输机故障巡检装置
CN106347966A (zh) * 2016-10-24 2017-01-25 中国矿业大学 一种长距离带式输送机的自动巡检装置
CN107175668B (zh) * 2017-06-15 2020-12-18 西安科技大学 一种皮带运输机智能巡检机器人

Also Published As

Publication number Publication date
WO2019218035A1 (fr) 2019-11-21
AU2019268743A1 (en) 2021-01-21
US20210206579A1 (en) 2021-07-08
BR102018010213A2 (pt) 2019-04-16
CN112533845A (zh) 2021-03-19
AU2019268743B2 (en) 2024-08-01
CA3100772A1 (fr) 2019-03-19
BR102018010213B1 (pt) 2021-11-09
CL2020002989A1 (es) 2021-06-18
US11926481B2 (en) 2024-03-12

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